Vehicle inspection device

ABSTRACT

The vehicle inspection device is used to adjust an optical axis of a radar device R in a vehicle in which the radar device R that acquires external environment information is attached to a vehicle body. The vehicle inspection device includes: a target robot T including a corner reflector  75  that reflects an electromagnetic wave emitted from the radar device R, and an electromagnetic wave characteristic measurement device  76  that measures characteristics of the electromagnetic wave emitted from the radar device R; and a control device  6  that controls the target robot T. The control device  6  calculates an attachment position of the radar device R and a direction of an optical axis on the basis of electromagnetic wave characteristics measured by the electromagnetic wave characteristic measurement device  76 , and moves the target robot T to an inspection position that is determined on the basis of the calculation result.

This application is based on and claims the benefit of priority fromJapanese Patent Application No. 2018-178950, filed on 25 Sep. 2018, thecontent of which is incorporated herein by reference.

BACKGROUND OF THE INVENTION Field of the Invention

The present invention relates to a vehicle inspection device. Morespecifically, the invention relates to a vehicle inspection device thatis used to adjust a sensor axis of an external environment sensor thatis attached to a vehicle.

Related Art

To realize a driving support function or an automatic driving functionsuch as adaptive cruise control and an automatic brake system, anexternal environment sensor such as a radar device and a camera whichdetect an external environment is mounted on a vehicle. The externalenvironment sensor has strong directivity, and thus it is necessary toattach the external environment sensor in an appropriate direction withrespect to a vehicle body to allow the driving support function or theautomatic driving function to be appropriately exhibited. According tothis, a manufacturing and inspection process of a vehicle on which theexternal environment sensor is mounted includes an aiming process ofadjusting an optical axis of the external environment sensor attached tothe vehicle body.

For example, in the aiming process of a radar device, a target isinstalled at a predetermined position at the periphery of the vehicleprovided in an inspection area. In addition, an electromagnetic wave isemitted from the radar device to the target, and a reflected wave by thetarget is measured to understand a deviation of an optical axis of theradar device with respect to a normal direction, and the optical axis ofthe radar device is adjusted so that the deviation disappears.

Japanese Unexamined Patent Application, Publication No. 2005-331353discloses an optical axis adjustment method in which an optical axis ofa radar device is adjusted by using a camera installed on the ceiling ofan inspection chamber and a target that is movable along a railinstalled on a floor of the inspection chamber. In the method disclosedin Japanese Unexamined Patent Application, Publication No. 2005-331353,a plan-view image of a vehicle in the inspection chamber is captured bythe camera, a normal direction of the optical axis of the radar deviceattached to a vehicle body is specified on the basis of the plan-viewimage, and the target is moved on the rail so that the specified normaldirection and a surface of the target become orthogonal to each other.According to the optical axis adjustment method disclosed in JapaneseUnexamined Patent Application, Publication No. 2005-331353, the opticalaxis of the radar device can be adjusted by using the target installedat an appropriate position with respect to the vehicle in the inspectionchamber.

SUMMARY OF THE INVENTION

However, when attaching the radar device to the vehicle body, not alittle assembly errors occur. The assembly errors include not only thedeviation of the optical axis direction of the radar device as describedabove but also a deviation of an attachment position of the radardevice. However, in the positioning device disclosed in JapaneseUnexamined Patent Application, Publication No. 2005-331353, a normaldirection of the optical axis of the radar device is specified from theplan-view image of the vehicle, and thus an actual attachment positionof the radar device or an actual optical axis direction is not detected.This corresponds to specifying of the normal direction of the opticalaxis on the assumption that the radar device is attached to anappropriate position of the vehicle. That is, according to thepositioning device disclosed in Japanese Unexamined Patent Application,Publication No. 2005-331353, a position of the target is determinedwithout considering the deviation of the attachment position of theradar device. Therefore, even when adjusting the optical axis of theradar device by using the target of which a position is determined bythe positioning device of Japanese Unexamined Patent Application,Publication No. 2005-331353, the optical axis is apt to deviate from anoriginal normal direction in an amount corresponding to the deviation ofthe attachment position of the radar device.

A detection error of the radar device which is caused by the deviationof the optical axis increases as a distance between an object and theradar device is longer. In recent years, it has been required that aposition of an object can be detected by a radar device with accuracy upto sufficiently far away position, and thus there is a concern that itis difficult to adjust the optical axis of the radar device to a certainextent capable of realizing required accuracy in the positioning deviceof the related art.

An object of the invention is to provide a vehicle inspection devicecapable of adjusting a sensor axis of an external environment sensorwith accuracy.

(1) According to an aspect of the invention, there is provided a vehicleinspection device that is used to adjust a sensor axis of a firstexternal environment sensor in a vehicle in which the first externalenvironment sensor that acquires external environment information isattached to a vehicle body. The vehicle inspection device includes: amoving body including a reflector that reflects an electromagnetic waveemitted from the first external environment sensor, and anelectromagnetic wave characteristic measurement device that measurescharacteristics of the electromagnetic wave emitted from the firstexternal environment sensor; and a control device that controls themoving body. The control device calculates an attachment position of thefirst external environment sensor and a direction of a sensor axis onthe basis of electromagnetic wave characteristics measured by theelectromagnetic wave characteristic measurement device, and moves themoving body to an inspection position that is determined on the basis ofthe calculation result.

(2) In this case, a second external environment sensor that acquiresexternal environment information different from the information acquiredby the first external environment sensor may be attached to the vehiclebody, and the moving body may further include a target with respect tothe second external environment sensor.

(3) In this case, an electromagnetic wave incident surface of theelectromagnetic wave characteristic measurement device, and thereflector may be respectively provided on different surfaces of a mainbody of the moving body, and the control device may control the movingbody so that the reflector faces the first external environment sensorat the inspection position.

(4) In this case, the main body may be provided with the reflector, theelectromagnetic wave characteristic measurement device, and anelectromagnetic wave absorbing body that absorbs the electromagneticwave emitted from the first external environment sensor to suppress areflected wave, the electromagnetic wave absorbing body may be providedon a surface that faces the first external environment sensor in a casewhere the reflector in the main body is made to face the first externalenvironment sensor, and the electromagnetic wave characteristicmeasurement device may be provided in the main body to be hidden by theelectromagnetic wave absorbing body when viewed from the first externalenvironment sensor in a state in which the reflector is made to face thefirst external environment sensor.

(1) The vehicle inspection device of the invention includes the movingbody on which the reflector that reflects the electromagnetic waveemitted from the first external environment sensor, and theelectromagnetic wave characteristic measurement device that measurescharacteristics of the electromagnetic wave emitted from the firstexternal environment sensor are mounted, and the control device thatcontrols the moving body. The control device calculates the attachmentposition of the first external environment sensor in the vehicle bodyand the direction of the sensor axis on the basis of the electromagneticwave characteristics of the first external environment sensor which aremeasured by the electromagnetic wave characteristic measurement device,and moves the moving body to the inspection position that is determinedon the basis of the calculation result. According to the vehicleinspection device of the invention, the attachment position of the firstexternal environment sensor in the vehicle body and the direction of thesensor axis are calculated by using the electromagnetic wavecharacteristic measurement device, and thus it is possible to set theinspection position of the moving body to an appropriate positioncorresponding to the attachment position of the sensor in which not alittle deviation occurs for every vehicle, and the direction of thesensor axis. In addition, since the moving body is moved to theinspection position corresponding to an actual attachment position ofthe first external environment sensor and an actual direction of thesensor axis, it is possible to adjust the sensor axis of the firstexternal environment sensor with accuracy.

In addition, according to the vehicle inspection device of theinvention, the electromagnetic wave characteristic measurement devicethat is used to calculate the attachment position of the first externalenvironment sensor with respect to the vehicle body and the direction ofthe sensor axis, and the reflector that is used when adjusting thesensor axis are mounted on the same moving body, and thus a measurementposition that is an installation position of the moving body whenmeasuring the characteristics of the electromagnetic wave by using theelectromagnetic wave characteristic measurement device, and aninspection position that is an installation position of the moving bodywhen adjusting the sensor axis of the first external environment sensorby using the reflector can be made to be close to each other. Accordingto this, it is possible to shorten a movement amount of the moving body,and thus it is possible to shorten time taken to adjust the sensor axisof the first external environment sensor.

(2) In the vehicle inspection device of the invention, the moving bodyis further provided with a target with respect to the second externalenvironment sensor in addition to the reflector that is used foradjustment of the sensor axis of the first external environment sensor.According to the vehicle inspection device of the invention, thereflector and the target which are used for adjustment of the first andsecond external environment sensors which acquire different pieces ofexternal environment information are provided in one moving body, andthus it is not necessary to install the vehicle inspection device forevery kind of the external environment sensor. As a result, it ispossible to improve space efficiency of an inspection chamber. Inaddition, since the general-purpose properties of the vehicle inspectiondevice are improved as described above, it is possible to flexibly setan adjustment line for carrying out adjustment of the externalenvironment sensor mounted on a vehicle in correspondence with the kindof vehicles.

(3) In the vehicle inspection device of the invention, theelectromagnetic wave incident surface of the electromagnetic wavecharacteristic measurement device, and the reflector are respectivelyprovided on different surfaces of the main body, and the control devicecontrols the moving body so that the reflector faces the first externalenvironment sensor at the inspection position determined by using theelectromagnetic wave characteristic measurement device. According tothis, it is possible to prevent the reflector from having an effect onmeasurement of the characteristics of the electromagnetic wave by theelectromagnetic wave characteristic measurement device, or it ispossible to prevent the electromagnetic wave incident surface of theelectromagnetic wave characteristic measurement device from having aneffect on adjustment of the sensor axis using the reflector.

(4) In the vehicle inspection device of the invention, the reflector,the electromagnetic wave characteristic measurement device, and theelectromagnetic wave absorbing body are provided in the main body. Inaddition, the electromagnetic wave characteristic measurement device isprovided in the main body to be hidden by the electromagnetic waveabsorbing body when viewed from the first external environment sensor ina state in which the reflector is made to face the first externalenvironment sensor. According to this, when adjusting the sensor axis ofthe first external environment sensor in a state in which the reflectoris made to face the first external environment sensor, it is possible toprevent the electromagnetic wave emitted from the first externalenvironment sensor from being reflected by the electromagnetic wavecharacteristic measurement device, and thus it is possible to improveadjustment accuracy of the sensor axis. In addition, according to thevehicle inspection device of the invention, the electromagnetic waveabsorbing body may be provided only on a surface that faces the firstexternal environment sensor in a case where the reflector in the mainbody is made to face the first external environment sensor, and thus itis possible to reduce the amount of the electromagnetic wave absorbingbody provided in the main body as much as possible, and thus it ispossible to reduce the cost of the vehicle inspection device.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a view schematically illustrating a configuration of a vehicleinspection system according to a first embodiment of the invention.

FIG. 2A is a plan view of an alignment system.

FIG. 2B is a side view of the alignment system.

FIG. 3 is a flowchart illustrating a specific procedure of an alignmenttester process using the alignment system.

FIG. 4A is a plan view of an optical axis adjustment system.

FIG. 4B is a side view of the optical axis adjustment system.

FIG. 5 is a view illustrating a configuration of an inspection surfaceof a target board of a camera inspection device.

FIG. 6A is a left side view of a target robot.

FIG. 6B is a plan view of the target robot.

FIG. 6C is a right side view of the target robot.

FIG. 7 is a view illustrating a configuration of a travel device and aposture changing device in a target robot T.

FIG. 8 is a functional block diagram of a control device.

FIG. 9 is a view for describing a procedure of calculating an attachmentposition of a radar device and a direction of an optical axis in a radarattachment position and direction calculation unit.

FIG. 10A is a view for describing a procedure of calculating a normalposition and a normal posture of an adjustment target in a normalposture calculation unit.

FIG. 10B is a view for describing a procedure of calculating the normalposition and the normal posture of the adjustment target in the normalposture calculation unit.

FIG. 11 is a flowchart illustrating a specific procedure of a process ofadjusting an optical axis of the radar device by using an optical axisadjustment system.

FIG. 12 is a flowchart illustrating a specific procedure of an aimingprocess of adjusting an optical axis of six radar devices and anin-vehicle camera.

FIG. 13A is a view schematically illustrating a specific procedure ofthe aiming process.

FIG. 13B is a view schematically illustrating a specific procedure ofthe aiming process.

FIG. 13C is a view schematically illustrating a specific procedure ofthe aiming process.

FIG. 13D is a view schematically illustrating a specific procedure ofthe aiming process.

FIG. 14 is a flowchart illustrating a specific procedure of an aimingprocess in a vehicle inspection system according to a second embodimentof the invention.

FIG. 15A is a view schematically illustrating a specific procedure ofthe aiming process.

FIG. 15B is a view schematically illustrating a specific procedure ofthe aiming process.

FIG. 15C is a view schematically illustrating a specific procedure ofthe aiming process.

DETAILED DESCRIPTION OF THE INVENTION First Embodiment

Hereinafter, a configuration of a vehicle inspection system S accordingto a first embodiment of the invention will be described in detail withthe accompanying drawings.

FIG. 1 is a view schematically illustrating a configuration of thevehicle inspection system S. The vehicle inspection system S is afacility that is used when inspecting a vehicle V in which a pluralityof external environment sensors R and C that acquires externalenvironment information are attached to a vehicle body. The externalenvironment sensor R is a radar device that emits an electromagneticwave (for example, a millimeter wave) toward the outside of the vehicleV and measures a reflected wave thereof to acquire external environmentinformation. Hereinafter, the external environment sensor R is referredto as a radar device R. The external environment sensor C is a camerathat acquires external environment information by capturing an imagewith an imaging element (not illustrated). Hereinafter, the externalenvironment sensor C is referred to as an in-vehicle camera C.

FIG. 1 illustrates configurations of an alignment system 1 and anoptical axis adjustment system 3 which are facilities used whenexecuting, particularly, an alignment tester process and an aimingprocess among a plurality of inspection processes on the vehicle V byusing the vehicle inspection system S.

In the alignment tester process, an attachment angle, an attachmentposition, and the like of wheels W, which are movable componentsattached to a vehicle body of the vehicle V, with respect to an axle areadjusted in an inspection chamber Ra in which the alignment system 1 tobe described later with reference to FIG. 2A and FIG. 2B is installed.In the aiming process, a direction of an optical axis of the radardevice R and the in-vehicle camera C with respect to the vehicle V afterbeing subjected to the alignment tester process is adjusted in aninspection chamber Rb in which the optical axis adjustment system 3 tobe described later with reference to FIG. 4A and FIG. 4B is installed.

Hereinafter, detailed configurations of the alignment system 1 and theoptical axis adjustment system 3 will be sequentially described withreference to the accompanying drawings.

FIG. 2A is a plan view of the alignment system 1, and FIG. 2B is a sideview of the alignment system 1.

The alignment system 1 includes an alignment measurement device 10installed on a floor surface Fa of the inspection chamber Ra, aplurality of (for example, six) cameras Ca which are installed on theceiling of the inspection chamber Ra, and a control device 6 thatprocesses an image captured by the cameras Ca.

The alignment measurement device 10 includes front wheel guides 11L and11R and rear wheel guides 12L and 12R which are installed on the floorsurface Fa, front housings 13L and 13R which are installed on an outerside of the front wheel guides 11L and 11R in a vehicle width direction,and rear housings 14L and 14R which are installed on an outer side ofthe rear wheel guides 12L and 12R in the vehicle width direction.

The vehicle V is stopped at a defined position in the inspection chamberRa by advancing front wheels WFL and WFR, and rear wheels WRL and WRRalong the front wheel guides 11L and 11R and the rear wheel guides 12Land 12R.

The front housings 13L and 13R are respectively provided with frontwheel confronting devices 15L and 15R and front wheel sensors 16L and16R, and the rear housings 14L and 14R are respectively provided withrear wheel confronting devices 17L and 17R and rear wheel sensors 18Land 18R.

The front wheel sensors 16L and 16R and the rear wheel sensors 18L and18R respectively measure a toe angle, a caster angle, or the like of thefront wheels WFL and WFR and the rear wheels WRL and WRR. The frontwheel confronting devices 15L and 15R respectively press the frontwheels WFL and WFR to set a position of a front portion of a vehiclebody B to a defined position. The rear wheel confronting devices 17L and17R respectively press the rear wheels WRL and WRR to set a position ofa rear portion of the vehicle body B to a defined position. Note that,in the following description, a posture of the vehicle body B, which isrealized in the inspection chamber Ra by using the front wheelconfronting devices 15L and 15R and the rear wheel confronting devices17L and 17R, is referred to as a confronting posture. In addition, in astate in which the confronting posture is secured by the confrontingdevices 15L, 15R, 17L, and 17R, a position and a posture of an axle Shof the front wheels WFL and WFR in the inspection chamber Ra are fixed,and thus the position and the posture can be specified with accuracy.Here, in the following description, an inspection reference point Q isdefined to the center of the axle Sh, that is, an intersection betweenthe axle Sh and a vehicle body central axis Sc that extends along afront and rear direction at a vehicle width direction center of thevehicle body B.

A first marker M1 is attached to a roof panel that is an upper portionof the vehicle body B. The first marker M1 has a predeterminedthree-dimensional shape. More specifically, the first marker M1 isconstructed by attaching four spherical reflection markers to ends ofthree axis bodies X1, Y1, and Z1 which are orthogonal to each other. Thefirst marker M1 is attached to the roof panel of the vehicle body B witha tape (not illustrated) so that the axis body X1 becomes approximatelyparallel to a vehicle width direction of the vehicle body B, the axisbody Y1 becomes approximately parallel to a vertical direction of thevehicle body B, and the axis body Z1 becomes approximately parallel toan advancing direction of the vehicle body B.

The six cameras Ca are installed with predetermined intervals at ceilingside portions of side walls which partition the inspection chamber Ra tosurround the vehicle body B in a state in which a confronting posture issecured by the confronting devices 15L, 15R, 17L, and 17R. The camerasCa photograph the vehicle body B and the first marker M1 attached to theroof panel in a state in which the confronting posture is secured incorrespondence with a command from the control device 6, and transmitsimage data obtained through the photographing to the control device 6.The control device 6 calculates a position and a posture of the firstmarker M1 with reference to the inspection reference point Q of thevehicle body B by using the image data obtained by the cameras Ca as tobe described later with reference to FIG. 8.

FIG. 3 is a flowchart illustrating a specific procedure of an alignmenttester process using the alignment system 1 as described above.

First, in S1, an operator moves the vehicle V to which the first markerM1 is attached in advance to the inspection chamber Ra in which thealignment system 1 is installed. In S2, the operator initiatesconstraint of the vehicle body B by the confronting devices 15L, 15R,17L, and 17R. Then, the vehicle body B is maintained in the confrontingposture until the constraint by the confronting devices 15L, 15R, 17L,and 17R is released. In S3, the operator measures alignment by using thealignment measurement device 10, and adjusts the alignment in S4 byusing a measurement result in S3.

In S5, the operator photographs the vehicle body B and the first markerM1 after alignment adjustment by using the six cameras Ca. In S6, thecontrol device 6 calculates a position and a posture of the first markerM1 with reference to the inspection reference of the vehicle body B byusing image data obtained by the six cameras Ca. In S7, the operatorreleases the constraint of the vehicle body B by the confronting devices15L, 15R, 17L, and 17R. In S8, the operator retracts the vehicle V fromthe inspection chamber Ra.

FIG. 4A is a plan view of the optical axis adjustment system 3, and FIG.4B is a side view of the optical axis adjustment system 3.

The vehicle V of which the alignment is adjusted by using theabove-described alignment system 1 is conveyed to the optical axisadjustment system 3. Hereinafter, description will be given of a casewhere six radar devices R and one in-vehicle camera C are attached tothe vehicle body B of the vehicle V, and in the optical axis adjustmentsystem 3, directions of optical axes of the six radar devices R and theone in-vehicle camera C are adjusted. As illustrated in FIG. 4A, theradar devices R are attached one by one to a central portion, a leftwardportion, and a rightward portion on a front side of the vehicle body B,and a central portion, a leftward portion, and a rightward portion on arear side of the vehicle body B. In addition, the in-vehicle camera C isattached to a windshield of the vehicle body B.

The optical axis adjustment system 3 includes front wheel confrontingdevices and rear wheel confronting devices (not illustrated), aplurality of (for example, six; the same as in the radar devices mountedon the vehicle body B) target robots T which are movable on a floorsurface Fb of the inspection chamber Rb, a camera inspection device 8installed on the ceiling of the inspection chamber Rb, a plurality of(for example, six) cameras Cb installed on the ceiling of the inspectionchamber Rb, a control device 6 that processes an image captured by thesix cameras Cb and controls the target robots T and the camerainspection device 8, and a vehicle inspection device 5 that can performcommunication with the vehicle V. As described above, the first markerM1 is attached to the roof panel of the vehicle body B as describedabove.

The front wheel confronting device and the rear wheel confronting devicehave the same configuration as in the front wheel confronting devices15L and 15R and the rear wheel confronting devices 17L and 17R installedin the alignment system 1, and thus illustration and detaileddescription thereof will be omitted in FIG. 4A and FIG. 4B. The frontwheel confronting devices and the rear wheel confronting devices makethe posture of the vehicle body B in the inspection chamber Rb to apredetermined confronting posture.

The camera inspection device 8 includes a plate-shaped target board 81and a board support portion 82 that supports the target board 81. Aplurality of checkerboard patterns are drawn on an inspection surface 81a that is a surface of the target board 81 on the vehicle V side asillustrated in FIG. 5. An optical axis of the in-vehicle camera C isadjusted by photographing the checkerboard patterns drawn on theinspection surface 81 a of the target board 81 that is set at apredetermined inspection position with the in-vehicle camera C.

The board support portion 82 is fixed to the ceiling of the inspectionchamber Rb. A sliding rail 83 extending along a vertical direction isformed in the board support portion 82. The target board 81 is supportedto slide along the vertical direction by the sliding rail 83 asindicated by an arrow in FIG. 4B. When adjusting the optical axis of thein-vehicle camera C, the camera inspection device 8 sets the targetboard 81 to an inspection position by lowering the target board 81 alongthe sliding rail 83, and makes the inspection surface 81 a of the targetboard 81 face the in-vehicle camera C. In addition, after adjusting theoptical axis of the in-vehicle camera C, the camera inspection device 8sets the target board 81 to a retraction position determined in advanceby raising the target board 81 along the sliding rail 83.

Next, a configuration of the target robots T will be described withreference to FIGS. 6A to 6C and FIG. 7. FIG. 6A is a left side view ofeach of the target robots T, FIG. 6B is a plan view of the target robotT, and FIG. 6C is a right side view of the target robot T.

The target robot T includes a travel device 72, a corner reflector 75that reflects an electromagnetic wave emitted from the radar device R,an electromagnetic wave characteristic measurement device 76 thatmeasures characteristics of the electromagnetic wave emitted from theradar device R, a first target board 77 and a second target board 78which are targets with respect to an external environment sensordifferent from the radar device R, a frame 74 that supports the cornerreflector 75, the electromagnetic wave characteristic measurement device76, and the target boards 77 and 78, and a posture changing device 73that changes a posture of the frame 74 with respect to the travel device72.

FIG. 7 is a perspective view illustrating configurations of the traveldevice 72 and the posture changing device 73 in the target robot T.

The travel device 72 includes a box-shaped main body 721, a drivingwheel 722 supported to the main body 721, and a driving device 723 thatrotates the driving wheel 722. The posture changing device 73 isprovided in an upper portion of the main body 721.

The driving device 723 rotates the driving wheel 722 by using electricpower supplied from a battery (not illustrated) to move the main body721 and the posture changing device 73 provided in the main body 721 onthe floor surface Fb. The driving device 723 can translate the main body721 and the posture changing device 73 along an X-axis that is parallelto the floor surface Fb, or along a Z-axis that is parallel to the floorsurface Fb and is orthogonal to the X-axis. In addition, the drivingdevice 723 can rotate the main body 721 and the posture changing device73 around a central axis Or of the main body 721 which is parallel tothe Y-axis in addition to the translation along the X-axis and theZ-axis.

The posture changing device 73 includes a plate-shaped first stage 731to which the frame 74 is attached, a second stage 732 that supports thefirst stage 731, and an elevating device 733 that supports the secondstage 732.

The elevating device 733 is provided in an upper portion of the mainbody 721 of the travel device 72. For example, as illustrated in FIG. 7,the elevating device 733 elevates the first stage 731 and the secondstage 732 along the central axis Or by a jack mechanism constructed byconnecting both ends and central portions of a plurality of link membersto each other.

The second stage 732 is rotatably connected to the elevating device 733through a second rotation shaft 735. The second rotation shaft 735orthogonally intersects the central axis Or and is parallel to theZ-axis. According to this, in the posture changing device 73, it ispossible to rotate the first stage 731 and the second stage 732 aroundthe Z-axis.

The first stage 731 is rotatably connected to the second stage 732through a first rotation shaft 734. The first rotation shaft 734orthogonally intersects the central axis Or and is parallel to theX-axis. According to this, in the posture changing device 73, it ispossible to rotate the first stage 731 around the X-axis. The posturechanging device 73 is provided in the travel device 72 in such a mannerthat the first stage 731 and the second stage 732 intersect the centralaxis Or of the main body 721 at central points of the first stage 731and the second stage 732.

As described above, in the target robot T, the travel device 72 and theposture changing device 73 are used, and thus it is possible totranslate or rotate the frame 74, and the corner reflector 75, theelectromagnetic wave characteristic measurement device 76, and thetarget boards 77 and 78 which are supported by the frame 74 along theX-axis, the Z-axis, and the Y-axis or around the X-axis, the Z-axis, andthe Y-axis.

Returning to FIG. 6A to FIG. 6C, the frame 74 includes a plate-shapedmain frame 741 attached to the first stage 731 of the posture changingdevice 73, a reflector support frame 742 provided in an end of the mainframe 741 on a front surface side (a left side in FIG. 6B), and a boardsupport frame 743 provided in an end of the main frame 741 on a rearsurface side (a right side in FIG. 6B, that is, a side opposite to thereflector support frame 742).

The electromagnetic wave characteristic measurement device 76 isprovided in a left end of the main frame 741 (refer to FIG. 6A). Theelectromagnetic wave characteristic measurement device 76 measurescharacteristics of an electromagnetic wave (for example, an intensitydistribution, a phase, or the like of the electromagnetic wave) incidentto an electromagnetic wave incident surface 76 a that faces an outerside of the main frame 741, and wirelessly transmits characteristic dataobtained through the measurement to the control device 6.

The plate-shaped second target board 78 is provided in a right end ofthe main frame 741 (refer to FIG. 6C). For example, as illustrated inFIG. 6C, the second target board 78 is provided in the main frame 741 insuch a manner that an inspection surface 78 a faces a side opposite tothe electromagnetic wave incident surface 76 a of the electromagneticwave characteristic measurement device 76. As illustrated in FIG. 6C, aplurality of black circular patterns are drawn on the inspection surface78 a of the second target board 78. The second target board 78 is usedwhen adjusting an optical axis of a lane watch camera (not illustrated)that is provided in a door mirror of the vehicle V. That is, the opticalaxis of the lane watch camera is adjusted by photographing the blackcircular patterns drawn on the inspection surface 78 a of the secondtarget board 78 that is set to a predetermined inspection position witha lane watch camera. In the following description, description of aspecific procedure of adjusting the optical axis of the lane watchcamera mounted on the vehicle V by using the second target board 78 willbe omitted.

The second marker M2 is attached to a predetermined position of an upperportion of the main frame 741. The second marker M2 has the samethree-dimensional shape as in the first marker M1. More specifically,the second marker M2 is constructed by attaching four sphericalreflection markers to ends of three axis bodies X2, Y2, and Z2 which areorthogonal to each other. The second marker M2 is attached to an upperportion of the main frame 741 with a tape (not illustrated) so that theaxis body X2 becomes approximately parallel to the electromagnetic waveincident surface 76 a of the electromagnetic wave characteristicmeasurement device 76, the axis body Y2 becomes approximately parallelto a vertical direction, and the axis body Z2 becomes approximatelyorthogonal to the electromagnetic wave incident surface 76 a.

The reflector support frame 742 has a plate shape and is provided in afront-side end of the main frame 741. A triangular pyramid shaped cornerreflector 75 that reflects an electromagnetic wave emitted from theradar device R is provided at an approximately center of the reflectorsupport frame 742. The corner reflector 75 is provided in the reflectorsupport frame 742 so that a reflection surface 75 a thereof faces adirection different from that of the electromagnetic wave incidentsurface 76 a of the electromagnetic wave characteristic measurementdevice 76 and the inspection surface 78 a of the second target board 78,more specifically, a direction that is approximately orthogonal to theelectromagnetic wave incident surface 76 a and the inspection surface 78a.

The board support frame 743 has a plate shape, and is provided in an endof the main frame 741 on a rear surface side. The first target board 77having a plate shape is provided in the board support frame 743 (referto FIG. 6A). For example, as illustrated in FIG. 6A, the first targetboard 77 is provided in the board support frame 743 at a position higherthan the corner reflector 75 in such a manner that the inspectionsurface 77 a faces a side opposite to the reflection surface 75 a of thecorner reflector 75. A plurality of checkered patterns as illustrated inFIG. 5 are drawn on the inspection surface 77 a of the first targetboard 77. The first target board 77 is used when adjusting an opticalaxis of the in-vehicle camera C. That is, the optical axis of thein-vehicle camera C is adjusted by photographing the checkerboardpatterns drawn on the inspection surface 77 a of the first target board77 that is set at a predetermined inspection position with thein-vehicle camera C. Hereinafter, description will be given of a casewhere the optical axis of the in-vehicle camera C is adjusted by usingthe camera inspection device 8, and description of a specific procedureof adjusting the optical axis of the in-vehicle camera C by using thefirst target board 77 will be omitted.

In the target robot T as described above, the robot main body 71 thatsupports the corner reflector 75, the electromagnetic wavecharacteristic measurement device 76, and the like includes the traveldevice 72, the posture changing device 73, and the frame 74.

When adjusting the optical axis of the radar device R by using thecorner reflector 75, the robot main body 71 is provided with a pluralityof electromagnetic wave absorbing bodies 791, 792, and 793 which absorbthe electromagnetic wave emitted from the radar device R and suppress areflected wave to prevent the electromagnetic wave emitted from theradar device R from being reflected from a member other than the cornerreflector 75 and having an effect on adjustment of the optical axis ofthe radar device R.

As illustrated in FIG. 6A to FIG. 6C, the electromagnetic wave absorbingbodies 791, 792, and 793 have a plate shape, and are provided onsurfaces facing the radar device R in a case where the corner reflector75 in the robot main body 71 faces the radar device R set as a target.

A first electromagnetic wave absorbing body 791 is attached to the mainbody 721 to cover a front surface side of the travel device 72. A secondelectromagnetic wave absorbing body 792 is attached to the reflectorsupport frame 742 to cover a front-side surface of the reflector supportframe 742 other than the corner reflector 75. As illustrated in FIG. 6B,the electromagnetic wave characteristic measurement device 76 isprovided in the robot main body 71 to be hidden by the secondelectromagnetic wave absorbing body 792 when viewed from the radardevice R in a state in which the corner reflector 75 is made to face theradar device R that is set as a target. A third electromagnetic waveabsorbing body 793 is attached to the board support frame 743 to cover afront surface side of the board support frame 743.

Since the plurality of electromagnetic wave absorbing bodies 791 to 793are provided with respect to the robot main body 71 as described above,in a state in which the corner reflector 75 is made to face the radardevice R, members which constitute the target robot T except for thecorner reflector 75 are hidden by the electromagnetic wave absorbingbodies 791 to 793.

Returning to FIG. 4A and FIG. 4B, the six cameras Cb are installed withpredetermined intervals at ceiling side portions of side walls whichpartition the inspection chamber Rb to surround the vehicle body Binstalled in the inspection chamber Rb. The cameras Cb photograph thevehicle body B and the first marker M1 attached to the roof panel of thevehicle body B, and the six target robots T and the second marker M2attached to defined positions of upper portions of the target robots T,and transmits image data obtained through the photographing to thecontrol device 6.

The vehicle inspection device 5 is connected to a vehicle ECU (notillustrated) mounted on the vehicle body B through a communication line,and can perform communication with the vehicle ECU. The vehicle ECUemits an electromagnetic wave (for example, a millimeter wave) from theradar devices R mounted on the vehicle body B or adjusts a direction ofan optical axis of each of the radar devices R in correspondence with acommand signal transmitted from the vehicle inspection device 5.

FIG. 8 is a functional block diagram of the control device 6. Thecontrol device 6 is a computer including a CPU, a ROM, a RAM, a wirelesscommunication interface, and the like. The control device 6 functions asa first marker position and posture calculation unit 61, a position andposture calculation unit 62, a radar attachment position and directioncalculation unit 65, a normal posture calculation unit 66, and a targetrobot control unit 67 to be described later by executing various kindsof operation processing in the CPU in accordance with a program storedin the ROM.

The first marker position and posture calculation unit 61 calculates aposition and a posture of the first marker M1 with reference to theinspection reference point Q defined on the axle Sh of the vehicle bodyB in a state of securing the confronting posture by the confrontingdevices 15L, 15R, 17L, and 17R by using image data transmitted from thesix cameras Ca in the alignment tester process described with referenceto FIG. 3. As described above, an attachment position or an attachmentposture of the first marker M1 in the vehicle body B is slightlydifferent for every vehicle V. Accordingly, the first marker positionand posture calculation unit 61 calculates the position and the postureof the first marker M1 with reference to the inspection reference pointQ in a state of securing the confronting posture for every vehicle V.

The position and posture calculation unit 62 includes a vehicle-bodyposition and posture calculation unit 63 and a target position andposture calculation unit 64, and calculates a position and a posture ofthe vehicle body B and the target robots T in the inspection chamber Rbby using the units.

The vehicle-body position and posture calculation unit 63 calculates aposition and a posture of the vehicle body B in the inspection chamberRb by using the image data transmitted from the six camera Cb installedin the inspection chamber Rb, and the position and the posture of thefirst marker M1 with reference to the inspection reference point Q whichare calculated by the first marker position and posture calculation unit61. More specifically, the vehicle-body position and posture calculationunit 63 detects the position and the posture of the first marker M1 inthe inspection chamber Rb by using the image data transmitted from thesix cameras Cb, and calculates the position and the posture of thevehicle body B in the inspection chamber Rb by using the detectionresult of the position and the posture of the first marker M1 and thecalculation result of the first marker position and posture calculationunit 61. The position and the posture of the vehicle body B which arecalculated by the vehicle-body position and posture calculation unit 63are transmitted to the radar attachment position and directioncalculation unit 65, the normal posture calculation unit 66, and thetarget robot control unit 67.

The target position and posture calculation unit 64 calculates aposition and a posture of the six target robots T in the inspectionchamber Rb by using the image data transmitted from the six cameras Cbinstalled in the inspection chamber Rb. The above-described secondmarker M2 is attached at a predetermined position of each of the targetrobots T, and information relating to an attachment position and anattachment posture of the second marker M2 is stored in the targetposition and posture calculation unit 64. The target position andposture calculation unit 64 detects the position and the posture of thesecond marker M2 of the target robot T in the inspection chamber Rb byusing the image data transmitted from the six cameras Cb, and calculatesthe position and the posture of the target robot T in the inspectionchamber Rb by using the calculation result of the position and theposture of the second marker M2, and the information relating to thepredetermined attachment position and attachment posture of the secondmarker M2. The position and the posture of the vehicle body B which arecalculated by the target position and posture calculation unit 64 istransmitted to the radar attachment position and direction calculationunit 65, the normal posture calculation unit 66, and the target robotcontrol unit 67.

The target robot control unit 67 controls the target robot T so thatmatching is established between the position and the posture of thetarget robot T which are calculated by the target position and posturecalculation unit 64, and a target position and a target posture of thetarget robot T which are calculated in accordance with a procedure to bedescribed later by the radar attachment position and directioncalculation unit 65 or a normal inspection position and a normalinspection posture of the target robot T which are calculated inaccordance with a procedure to be described later by the normal posturecalculation unit 66.

The radar attachment position and direction calculation unit 65calculates an attachment position of each of the radar devices Rattached to the vehicle body B and a direction of an optical axis of theradar device R by using the position and the posture of the vehicle bodyB and the target robot T which are calculated by the position andposture calculation unit 62, and electromagnetic wave characteristicdata transmitted from the electromagnetic wave characteristicmeasurement device 76 provided in the target robot T.

FIG. 9 is a view for describing a procedure of calculating a position ofan attachment point P of the radar device R and a direction of anoptical axis O in the radar attachment position and directioncalculation unit 65.

As illustrated in FIG. 9, the radar attachment position and directioncalculation unit 65 changes a position of the target robot T between afirst position Tp1 and a second position Tp2 that is further distantfrom the vehicle body B in comparison to the first position Tp1, andcalculates a position of the attachment point P of the radar device Rwith respect to the vehicle body B in a three-dimensional space and adirection of the optical axis O in a three-dimensional space by usingthe electromagnetic wave characteristic data of the electromagnetic waveof the radar device R which is obtained by the target robot T installedat the positions Tp1 and Tp2.

More specifically, the radar attachment position and directioncalculation unit 65 sets a target position of the target robot T to thefirst position Tp1, moves the target robot T to the first position Tp1by using the target robot control unit 67, and calculates, for example,a position of a point at which an electromagnetic wave intensity becomesthe maximum from the electromagnetic wave characteristic data obtainedby the electromagnetic wave characteristic measurement device 76 of thetarget robot T installed at the first position Tp1. As described above,the position of the point at which the electromagnetic wave intensitycalculated by the radar attachment position and direction calculationunit 65 becomes the maximum corresponds to an intersection O1 betweenthe optical axis O and the electromagnetic wave incident surface 76 a ofthe electromagnetic wave characteristic measurement device 76 of thetarget robot T installed at the first position Tp1.

In addition, the radar attachment position and direction calculationunit 65 sets the target position of the target robot T to the secondposition Tp2, moves the target robot T to the second position Tp2 byusing the target robot control unit 67, and calculates, for example, aposition of a point at which the electromagnetic wave intensity becomesthe maximum from the electromagnetic wave characteristic data obtainedby the electromagnetic wave characteristic measurement device 76 of thetarget robot T installed at the second position Tp2. As described above,the position of the point at which the electromagnetic wave intensitycalculated by the radar attachment position and direction calculationunit 65 becomes the maximum corresponds to an intersection O2 betweenthe optical axis O and the electromagnetic wave incident surface 76 a ofthe electromagnetic wave characteristic measurement device 76 of thetarget robot T installed at the second position Tp2.

As described above, the radar attachment position and directioncalculation unit 65 calculates a direction of the optical axis O as aline segment passing through the two intersections O1 and O2 by usingthe positions of the two intersections O1 and O2. In addition, the radarattachment position and direction calculation unit 65 calculates aposition of the attachment point P of the radar device R by anintersection between an extension line of the line segment passingthrough the intersections O1 and O2 calculated as described above, andthe vehicle body B. As described above, the radar attachment positionand direction calculation unit 65 calculates the position of theattachment point P of the radar device R attached to the vehicle body Bin a three-dimensional space, and a direction of the optical axis O in athree-dimensional space.

Returning to FIG. 8, the normal posture calculation unit 66 calculates anormal inspection position and a normal inspection posture with respectto the corner reflector 75 of the target robot T on the basis of theattachment position of the radar device R and the direction of theoptical axis which are calculated by the radar attachment position anddirection calculation unit 65. The target robot control unit 67 movesthe target robot T to be the normal position and the normal posturewhich are calculated by the normal posture calculation unit 66. Here,the normal inspection position and the normal inspection posturecorrespond to a position and a posture of the corner reflector 75 of thetarget robot T to be installed to adjust the direction of the opticalaxis so that the direction of the optical axis of the radar device Rbecomes the normal direction.

FIG. 10A and FIG. 10B are views for describing a procedure ofcalculating the normal inspection position and the normal inspectionposture of the corner reflector 75 in the normal posture calculationunit 66. Note that, FIG. 10A and FIG. 10B illustrate a case where theradar device R is attached to the vehicle body B at a position thatextremely deviates from a designed attachment point Pn along a right andleft direction for easy explanation. However, actually, the radar deviceR is attached at a position that deviates from the designed attachmentpoint Pn along not only the right and left direction but also an upperand lower direction, but illustration on the deviation along the upperand lower direction will be omitted.

First, as illustrated in FIG. 10A and FIG. 10B, the longest targetdetection point Pm of the radar device R is set to a position that isdistant from the designed attachment point Pn of the radar device R by apredetermined maximum detection distance (for example, 100 m). Notethat, a position of the designed attachment point Pn in athree-dimensional space can be calculated on the basis of the positionand the posture of the vehicle body B in the inspection chamber Rb whichare calculated by the vehicle-body position and posture calculation unit63. Accordingly, the position of the longest target detection point Pmin a three-dimensional space can also be calculated on the basis of theposition and the posture of the vehicle body B in the inspection chamberRb which are calculated by the vehicle-body position and posturecalculation unit 63.

As illustrated in FIG. 10A, the radar device R is attached to theattachment point P that is spaced away from the designed attachmentpoint Pn of the vehicle body B, and a direction of the optical axis O isnot adjusted, and thus the optical axis O does not pass through theoriginal longest target detection point Pm.

Therefore, the normal posture calculation unit 66 calculates a normaloptical axis On that connects the attachment point P and the longesttarget detection point Pm by using a calculation result of the radarattachment position and direction calculation unit 65 as illustrated inFIG. 10B. In addition, the normal posture calculation unit 66 calculatesthe normal inspection position and the normal inspection posture of thecorner reflector 75 so that the corner reflector 75 faces the radardevice R on the normal optical axis On. More specifically, the normalposture calculation unit 66 calculates the normal inspection positionand the normal inspection posture of the corner reflector 75 so that thereflection surface 75 a of the corner reflector 75 provided in thetarget robot T becomes orthogonal to the normal optical axis On, and thenormal optical axis On intersects the center of the reflection surface75 a. According to this, the normal posture calculation unit 66 cancalculate the normal inspection position and the normal inspectionposture of the corner reflector 75 to face the radar device R betweenthe radar device R attached to the attachment point P and the longesttarget detection point Pm.

FIG. 11 is a flowchart illustrating a specific procedure of a process ofadjusting the optical axis of the radar device R using the optical axisadjustment system 3 described above. As described above, a total of sixradar devices R are attached to the vehicle body B. FIG. 11 illustratesa procedure of setting one of the six radar devices R as a target andadjusting an axis thereof.

First, in S11, the radar attachment position and direction calculationunit 65 of the control device 6 moves the target robot T determined inadvance for the radar device R set as a target to the first position Tp1that is determined in advance, and makes the electromagnetic waveincident surface 76 a of the electromagnetic wave characteristicmeasurement device 76 provided in the target robot T face the radardevice R at the first position Tp1.

Next, in S12, an operator operates the vehicle inspection device 5 toemit an electromagnetic wave from the radar device R and to receive theelectromagnetic wave by the electromagnetic wave characteristicmeasurement device 76. In addition, the radar attachment position anddirection calculation unit 65 calculates a position of the intersectionO1 that is a point at which the electromagnetic wave intensity becomesthe maximum by using the electromagnetic wave characteristic datatransmitted from the electromagnetic wave characteristic measurementdevice 76.

Next, in S13, the radar attachment position and direction calculationunit 65 moves the target robot T to the second position Tp2 away fromthe radar device R. Next, in S14, the operator operates the vehicleinspection device 5 to emit an electromagnetic wave from the radardevice R and to receive the electromagnetic wave by the electromagneticwave characteristic measurement device 76. In addition, the radarattachment position and direction calculation unit 65 calculates aposition of the intersection O2 that is a point at which theelectromagnetic wave intensity becomes the maximum by using theelectromagnetic wave characteristic data transmitted from theelectromagnetic wave characteristic measurement device 76.

In S15, the radar attachment position and direction calculation unit 65calculates a position of the attachment point P of the radar device Rattached to the vehicle body B in a three-dimensional space and adirection of the optical axis O in a three-dimensional space by usingpositions of the two intersections O1 and O2.

In S16, the normal posture calculation unit 66 calculates a normalinspection position and a normal inspection posture of the cornerreflector 75 of the target robot T on the basis of the position of theattachment point P of the radar device R and the direction of theoptical axis O which are calculated by the radar attachment position anddirection calculation unit 65.

In S17, the target robot control unit 67 controls the target robot T sothat matching is established between the position and the posture of thecorner reflector 75 of the target robot T which are calculated by thetarget position and posture calculation unit 64, and the normalinspection position and the normal inspection posture of the cornerreflector 75 which are calculated by the normal posture calculation unit66. According to this, the corner reflector 75 of the target robot T isprovided at the normal inspection position and in the normal inspectionposture which are determined in correspondence with the attachmentposition of the radar device R set as a target and the direction ofoptical axis.

In S18, the operator adjusts the direction of the optical axis O of theradar device R by using the corner reflector 75 provided at the normalinspection position and in the normal inspection posture as describedabove. More specifically, the electromagnetic wave is emitted from theradar device R, and the electromagnetic wave reflected by the cornerreflector 75 is received by the radar device R. According to this, adeviation between the optical axis O of the radar device R and thenormal optical axis On is understood, and the direction of the opticalaxis O of the radar device R is adjusted so that the deviationdisappears.

As described above, the process of adjusting the optical axis of theradar device R by using the target robot T is divided into a first-halfprocess of calculating the attachment position of the radar device R andthe direction of the optical axis by using the target robot T (refer toS11 to S15 in FIG. 11), and a second-half process of calculating thenormal inspection position and the normal inspection posture withrespect to the corner reflector 75 of the target robot T based on thecalculation result, controlling the target robot T so that the cornerreflector 75 is set to the normal inspection position and the normalinspection posture, and adjusting the direction of the optical axis ofthe radar device R by using the corner reflector 75 (refer to S16 to S18in FIG. 11).

Next, a specific procedure of aiming processes of adjusting an opticalaxis of the six radar devices R mounted on the vehicle V and thein-vehicle camera C by using the optical axis adjustment system 3 willbe described. FIG. 12 is a flowchart illustrating a specific procedureof the aiming processes, and FIG. 13A to FIG. 13D are viewsschematically illustrating the specific procedure of the aimingprocesses.

As illustrated in FIG. 13A, six radar devices R1, R2, R3, R4, R5, and R6and one in-vehicle camera C are attached to the vehicle body B of thevehicle V as an external environment sensor in which adjustment of anoptical axis is necessary. The in-vehicle camera C is attached toapproximately the center of the vehicle body B in a plan view, morespecifically, a windshield.

A first radar device R1 is provided a leftward portion on a front sideof the vehicle body B, and a second radar device R2 is provided arightward portion on a rear side of the vehicle body B. That is, thefirst radar device R1 and the second radar device R2 are attached topositions opposite to each other with the center of the vehicle body Bin a plan view interposed therebetween.

A third radar device R3 is provided a rightward portion on the frontside of the vehicle body B, and a fourth radar device R4 is provided ata leftward portion on the rear side of the vehicle body B. That is, thethird radar device R3 and the fourth radar device R4 are attached toportions opposite to each other with the center of the vehicle body B ina plan view interposed therebetween.

A fifth radar device R5 is provided at the central portion on the frontside of the vehicle body B, and a sixth radar device R6 is provided atthe central portion on the rear side of the vehicle body B. That is, thefifth radar device R5 and the sixth radar device R6 are attached toportions opposite to each other with the center of the vehicle body B ina plan view interposed therebetween.

In addition, as illustrated in FIG. 13A, a first target robot T1 withrespect to the first radar device R1, a second target robot T2 withrespect to the second radar device R2, a third target robot T3 withrespect to the third radar device R3, a fourth target robot T4 withrespect to the fourth radar device R4, a fifth target robot T5 withrespect to the fifth radar device R5, a sixth target robot T6 withrespect to the sixth radar device R6, and the camera inspection device 8with respect to the in-vehicle camera C are installed in the inspectionchamber Rb.

In the flowchart in FIG. 12, first, in S21, an operator moves thevehicle V after being subjected to the alignment tester process in FIG.3 into the inspection chamber Rb, and positions the vehicle V to apredetermined vehicle inspection position by the confronting devices.

In S22, as illustrated in FIG. 13B, three aiming processes including acamera aiming process of adjusting an optical axis of the in-vehiclecamera C by using the camera inspection device 8, a first aiming processof adjusting an optical axis of the first radar device R1 by using thefirst target robot T1, and a second aiming process of adjusting anoptical axis of the second radar device R2 by using the second targetrobot T2 are executed in parallel, and when at least the first aimingprocess and the second aiming process among the three aiming processesare terminated, the process transitions to S23.

In the camera aiming process, first, the target board 81 is set to apredetermined inspection position by lowering the target board 81 alongthe sliding rail 83, and then the inspection surface 81 a of the targetboard 81 set to the inspection position is imaged by the in-vehiclecamera C to adjust the optical axis of the in-vehicle camera C.

In addition, in the first aiming process, the optical axis of the firstradar device R1 is adjusted by executing the optical axis adjustmentprocess described with reference to FIG. 11 by using the first targetrobot T1 and the first radar device R1 in combination. In addition, inthe second aiming process, the optical axis of the second radar deviceR2 is adjusted by executing the optical axis adjustment processdescribed with reference to FIG. 11 by using the second target robot T2and the second radar device R2 in combination.

Here, it is not necessary to simultaneously initiate or terminate thefirst aiming process and the second aiming process, but it is preferablethat at least parts of an execution period of the first aiming processand an execution period of the second aiming process overlap each other.

In addition, it is not necessary to simultaneously initiate or terminatethe camera aiming process, and the first and second aiming processes,but it is preferable that at least one of the execution period of thefirst aiming process and the execution period of the second aimingprocess, and an execution period of the camera aiming process at leastpartially overlap each other.

In addition, as illustrated in FIG. 13B, it is preferable that in thefirst aiming process, a position at which the first target robot T1 isinstalled is determined within a viewing angle of the first radar deviceR1 and out of a viewing angle of the second radar device R2, and in thesecond aiming process, a position at which the second target robot T2 isinstalled is determined within the viewing angle of the second radardevice R2 and out of the viewing angle of the first radar device R1.

Next, in S23, as illustrated in FIG. 13C, in a case where adjustment ofthe optical axis of the in-vehicle camera C using the camera inspectiondevice 8 is not completed, the adjustment is subsequently executed, athird aiming process of adjusting an optical axis of a third radardevice R3 by using a third target robot T3, and a fourth aiming processof adjusting an optical axis of a fourth radar device R4 by using afourth target robot T4 are executed in parallel, and when at least thethird aiming process and the fourth aiming process among the threeaiming processes are terminated, the process transitions to S24.

Here, in the third aiming process, the optical axis of the third radardevice R3 is adjusted by executing the optical axis adjustment processdescribed with reference to FIG. 11 by using the third target robot T3and the third radar device R3 in combination. In addition, in the fourthaiming process, the optical axis of the fourth radar device R4 isadjusted by executing the optical axis adjustment process described withreference to FIG. 11 by using the fourth target robot T4 and the fourthradar device R4 in combination.

Here, it is not necessary to simultaneously initiate or terminate thethird aiming process and the fourth aiming process, but it is preferablethat at least parts of an execution period of the third aiming processand an execution period of the fourth aiming process overlap each other.

In addition, as illustrated in FIG. 13C, it is preferable that in thethird aiming process, a position at which the third target robot T3 isinstalled is determined within a viewing angle of the third radar deviceR3 and out of a viewing angle of the fourth radar device R4, and in thefourth aiming process, a position at which the fourth target robot T4 isinstalled is determined within the viewing angle of the fourth radardevice R4 and out of the viewing angle of the third radar device R3.

Next, as illustrated in FIG. 13D, in S24, a fifth aiming process ofadjusting an optical axis of a fifth radar device R5 by using a fifthtarget robot T5, and a sixth aiming process of adjusting an optical axisof a sixth radar device R6 by using a sixth target robot T6 are executedin parallel, and when the fifth aiming process and the sixth aimingprocess are terminated, the process transitions to S25.

Here, in the fifth aiming process, the optical axis of the fifth radardevice R5 is adjusted by executing the optical axis adjustment processdescribed with reference to FIG. 11 by using the fifth target robot T5and the fifth radar device R5 in combination. In addition, in the sixthaiming process, the optical axis of the sixth radar device R6 isadjusted by executing the optical axis adjustment process described withreference to FIG. 11 by using the sixth target robot T6 and the sixthradar device R6 in combination.

Here, it is not necessary to simultaneously initiate or terminate thefifth aiming process and the sixth aiming process, but it is preferablethat at least parts of an execution period of the fifth aiming processand an execution period of the sixth aiming process overlap each other.

In addition, as illustrated in FIG. 13D, it is preferable that in thefifth aiming process, a position at which the fifth target robot T5 isinstalled is determined within a viewing angle of the fifth radar deviceR5 and out of a viewing angle of the sixth radar device R6, and in thesixth aiming process, a position at which the sixth target robot T6 isinstalled is determined within the viewing angle of the sixth radardevice R6 and out of the viewing angle of the fifth radar device R5.

In S25, the operator releases constraint of the vehicle V by theconfronting devices, and conveys the vehicle V from the inspectionchamber Rb and terminates the process illustrated in FIG. 12.

Second Embodiment

Next, a vehicle inspection system according to a second embodiment ofthe invention will be described with reference to the accompanyingdrawings. The vehicle inspection system according to this embodiment isdifferent from the vehicle inspection system S according to the firstembodiment mainly in a procedure of the aiming processes. Note that, inthe following description, the same reference numeral will be given tothe same configuration as in the first embodiment, and detaileddescription thereof will be omitted.

FIG. 14 is a flowchart illustrating a specific procedure of aimingprocesses of adjusting the optical axis of the six radar devices R andthe in-vehicle camera C which are mounted on the vehicle V in thevehicle inspection system according to this embodiment. FIG. 15A to FIG.15C are views schematically illustrating a specific procedure of theaiming processes.

In the flowchart of FIG. 14, first, in S31, an operator moves thevehicle V after being subjected to the alignment tester process in FIG.3 into the inspection chamber Rb, and positions the vehicle V to apredetermined vehicle inspection position by the confronting devices.

In S32, as illustrated in FIG. 15A, five aiming processes including acamera aiming process of adjusting an optical axis of the in-vehiclecamera C by using the camera inspection device 8, a first aiming processof adjusting an optical axis of a first radar device R1 by using a firsttarget robot T1, a second aiming process of adjusting an optical axis ofa second radar device R2 by using a second target robot T2, a thirdaiming process of adjusting an optical axis of a third radar device R3by using a third target robot T3, a fourth aiming process of adjustingan optical axis of a fourth radar device R4 by using a fourth targetrobot T4 are executed in parallel. In addition, when in S32, thefirst-half process of calculating the attachment position and thedirection of the optical axis of the first to fourth radar devices R1 toR4 is completed in the first to fourth aiming processes, and the cameraaiming process is completed, the process transitions to S33.

In the camera aiming process, first, the target board 81 is loweredalong the sliding rail 83 to set the target board 81 to a predeterminedinspection position, and the inspection surface 81 a of the target board81 set to the inspection position is imaged with the in-vehicle camera Cto adjust the optical axis of the in-vehicle camera C.

In addition, as illustrated in FIG. 15A, in the first to fourth aimingprocesses, the electromagnetic wave characteristic measurement device 76of each of the first to fourth target robots T1 to T4 is made to faceeach of the first to fourth radar devices R1 to R4 to execute theprocesses of S11 to S15 in the optical axis adjustment process describedwith reference to FIG. 11.

Here, it is not necessary for all of the first to fourth aimingprocesses to be simultaneously initiated, but it is preferable thatexecution periods of the first to fourth aiming processes at leastpartially overlap each other.

In addition, it is not necessary for the camera aiming process and thefirst to fourth aiming processes to be simultaneously initiated orterminated, but it is preferable that at least any one of the executionperiods of the first to fourth aiming processes and an execution periodof the camera aiming process at least partially overlap each other.

In addition, as illustrated in FIG. 15A, in the first aiming process, itis preferable that a position at which the first target robot T1 isinstalled is determined within a viewing angle of the first radar deviceR1 and out of a viewing angle of the second to fourth radar devices R2to R4. In the second aiming process, it is preferable that a position atwhich the second target robot T2 is installed is determined within theviewing angle of the second radar device R2 and out of the viewing angleof the first radar device R1 and out of the viewing angle of the thirdand fourth radar devices R3 to R4. In the third aiming process, it ispreferable that a position at which the third target robot T3 isinstalled is determined within the viewing angle of the third radardevice R3 and out of the viewing angle of the first and second radardevices R1 and R2 and out of the viewing angle of the fourth radardevice R4. In the fourth aiming process, it is preferable that aposition at which the fourth target robot T4 is installed is determinedwithin the viewing angle of the fourth radar device R4 and out of theviewing angle of the first to third radar devices R1 to R3.

Next, in S33, as illustrated in FIG. 15B, the first to sixth aimingprocesses are executed in parallel. In addition, when in S33, when asecond-half process of adjusting the direction of the optical axis ofthe first to fourth radar devices R1 to R4 is completed in the first tofourth aiming processes, and a first-half process of calculating anattachment position and a direction of an optical axis of the fifth andsixth radar devices R5 and R6 are completed in the fifth and sixthaiming processes, the process transitions to S34.

In addition, as illustrated in FIG. 15B, in the first to fourth aimingprocesses, the corner reflector 75 of each of the first to fourth targetrobots T1 to T4 is made to face each of the first to fourth radardevices R1 to R4 to execute the processes of S16 to S18 in the opticalaxis adjustment process described with reference to FIG. 11. Inaddition, in the fifth and sixth aiming processes, the electromagneticwave characteristic measurement device 76 of each of the fifth and sixthtarget robots T5 and T6 is made to face each of the fifth and sixthradar devices R5 to R6 to execute the processes of S11 to S15 in theoptical axis adjustment process described with reference to FIG. 11.

Here, it is not necessary for the first to sixth aiming processes to besimultaneously initiated, but it is preferable that execution periods ofthe first to sixth aiming processes at least partially overlap eachother.

In addition, as illustrated in FIG. 15B, in the first aiming process, itis preferable that a position at which the first target robot T1 isinstalled is determined within a viewing angle of the first radar deviceR1 and out of a viewing angle of the second to sixth radar devices R2 toR6. In the second aiming process, it is preferable that a position atwhich the second target robot T2 is installed is determined within theviewing angle of the second radar device R2 and out of the viewing angleof the first radar device R1 and out of the viewing angle of the thirdto sixth radar devices R3 to R6. In the third aiming process, it ispreferable that a position at which the third target robot T3 isinstalled is determined within the viewing angle of the third radardevice R3, out of the viewing angle of the first and second radardevices R1 and R2, and out of the viewing angle of the fourth to sixthradar devices R4 to R6. In the fourth aiming process, it is preferablethat a position at which the fourth target robot T4 is installed isdetermined within the viewing angle of the fourth radar device R4, outof the viewing angle of the first to third radar devices R1 to R3, andout of the viewing angle of the fifth and sixth radar devices R5 and R6.In the fifth aiming process, it is preferable that a position at whichthe fifth target robot T5 is installed is determined within the viewingangle of the fifth radar device R5, out of the viewing angle of thefirst to fourth radar devices R1 to R4, and out of the viewing angle ofthe sixth radar device R6. In the sixth aiming process, it is preferablethat a position at which the sixth target robot T6 is installed isdetermined within the viewing angle of the sixth radar device R6 and outof the viewing angle of the first to fifth radar devices R1 to R5.

Next, in S34, as illustrated in FIG. 15C, the fifth and sixth aimingprocesses are executed in parallel. When in S34, in the fifth and sixthaiming processes, when a second-half process of adjusting a direction ofan optical axis of the fifth and sixth radar devices R5 and R6 iscompleted, the process transitions to S35.

In addition, as illustrated in FIG. 15C, in the fifth and sixth aimingprocesses, the corner reflector 75 of each of the fifth and sixth targetrobots T5 and T6 is made to face each of the fifth and sixth radardevices R5 and R6 to execute the processes of S16 to S18 in the opticalaxis adjustment process described with reference to FIG. 11.

Here, it is not necessary for all of the fifth and sixth aimingprocesses to be simultaneously initiated, but it is preferable thatexecution periods of the fifth and sixth aiming processes at leastpartially overlap each other.

In addition, as illustrated in FIG. 15C, in the fifth aiming process, itis preferable that a position at which the fifth target robot T5 isinstalled is determined within a viewing angle of the fifth radar deviceR5 and out of a viewing angle of the sixth radar device R6. In addition,in the sixth aiming process, it is preferable that a position at whichthe sixth target robot T6 is installed is determined within a viewingangle of the sixth radar device R6 and out of a viewing angle of thefifth radar device R5.

Next, in S35, the operator releases the constraint of the vehicle V bythe confronting devices, and conveys the vehicle V from the inspectionchamber Rb and terminates the process illustrated in FIG. 14.

Hereinbefore, an embodiment of the invention has been described, but theinvention is not limited thereto. Detailed configurations may beappropriately changed in a range of the gist of the invention.

For example, in the embodiment, description has been given of a casewhere the optical axis of the in-vehicle camera C is adjusted by usingthe target board 81 of the camera inspection device 8 in the aimingprocess, but the invention is not limited thereto. The optical axis ofthe in-vehicle camera C can be adjusted by using the first target board77 mounted on the target robot T instead of the target board 81 of thecamera inspection device 8. In addition, in this case, the target robotT is moved to a position determined on the basis of the inspectionreference point Q of the vehicle body B in the inspection chamber Rb sothat the first target board 77 and the in-vehicle camera C confront toeach other with a predetermined interval. In this manner, in the case ofusing the first target board 77 that is movable in the inspectionchamber Rb, it is not necessary to maintain the vehicle body B in aconfronting posture, and thus it is possible to adjust the optical axisof the in-vehicle camera C without using the confronting devices.

EXPLANATION OF REFERENCE NUMERALS

-   -   S VEHICLE INSPECTION SYSTEM    -   3 OPTICAL AXIS ADJUSTMENT SYSTEM    -   Rb INSPECTION CHAMBER    -   Cb CAMERA    -   V VEHICLE    -   B VEHICLE BODY    -   Q INSPECTION REFERENCE POINT    -   R, R1, R2, R3, R4, R5, R6 RADAR DEVICE    -   O OPTICAL AXIS    -   6 CONTROL DEVICE    -   61 FIRST MARKER POSITION AND POSTURE CALCULATION UNIT    -   62 POSITION AND POSTURE CALCULATION UNIT    -   63 VEHICLE-BODY POSITION AND POSTURE CALCULATION UNIT    -   64 TARGET POSITION AND POSTURE CALCULATION UNIT    -   65 RADAR ATTACHMENT POSITION AND DIRECTION CALCULATION UNIT    -   66 NORMAL POSTURE CALCULATION UNIT    -   67 TARGET ROBOT CONTROL UNIT    -   T, T1, T2, T3, T4, T5, T6 TARGET ROBOT    -   71 ROBOT MAIN BODY    -   72 TRAVEL DEVICE    -   73 POSTURE CHANGING DEVICE    -   74 FRAME    -   75 CORNER REFLECTOR    -   76 ELECTROMAGNETIC WAVE CHARACTERISTIC MEASUREMENT DEVICE    -   76 a ELECTROMAGNETIC WAVE INCIDENT SURFACE    -   77 FIRST TARGET BOARD    -   78 SECOND TARGET BOARD    -   791 FIRST ELECTROMAGNETIC WAVE ABSORBING BODY    -   792 SECOND ELECTROMAGNETIC WAVE ABSORBING BODY    -   793 THIRD ELECTROMAGNETIC WAVE ABSORBING BODY

What is claimed is:
 1. A vehicle inspection device that adjusts a sensoraxis of a first external environment sensor in a vehicle in which thefirst external environment sensor that acquires external environmentinformation is attached to a vehicle body, the vehicle inspection devicecomprising: a moving body including a reflector that reflects anelectromagnetic wave emitted from the first external environment sensor,and an electromagnetic wave characteristic measurement device thatmeasures characteristics of the electromagnetic wave emitted from thefirst external environment sensor; and a control device that controlsthe moving body, wherein the control device calculates an attachmentposition of the first external environment sensor and a direction of thesensor axis on the basis of electromagnetic wave characteristicsmeasured by the electromagnetic wave characteristic measurement device,and moves the moving body to an inspection position that is determinedon the basis of the calculation result.
 2. The vehicle inspection deviceaccording to claim 1, wherein a second external environment sensor thatacquires external environment information different from the informationacquired by the first external environment sensor is attached to thevehicle body, and the moving body further includes a target with respectto the second external environment sensor.
 3. The vehicle inspectiondevice according to claim 1, wherein an electromagnetic wave incidentsurface of the electromagnetic wave characteristic measurement device,and the reflector are respectively provided on different surfaces of amain body of the moving body, and the control device controls the movingbody so that the reflector faces the first external environment sensorat the inspection position.
 4. The vehicle inspection device accordingto claim 3, wherein the main body is provided with the reflector, theelectromagnetic wave characteristic measurement device, and anelectromagnetic wave absorbing body that absorbs the electromagneticwave emitted from the first external environment sensor to suppress areflected wave, the electromagnetic wave absorbing body is provided on asurface that faces the first external environment sensor in a case wherethe reflector in the main body is made to face the first externalenvironment sensor, and the electromagnetic wave characteristicmeasurement device is provided in the main body to be hidden by theelectromagnetic wave absorbing body when viewed from the first externalenvironment sensor in a state in which the reflector is made to face thefirst external environment sensor.
 5. The vehicle inspection deviceaccording to claim 2, wherein an electromagnetic wave incident surfaceof the electromagnetic wave characteristic measurement device, and thereflector are respectively provided on different surfaces of a main bodyof the moving body, and the control device controls the moving body sothat the reflector faces the first external environment sensor at theinspection position.
 6. The vehicle inspection device according to claim5, wherein the main body is provided with the reflector, theelectromagnetic wave characteristic measurement device, and anelectromagnetic wave absorbing body that absorbs the electromagneticwave emitted from the first external environment sensor to suppress areflected wave, the electromagnetic wave absorbing body is provided on asurface that faces the first external environment sensor in a case wherethe reflector in the main body is made to face the first externalenvironment sensor, and the electromagnetic wave characteristicmeasurement device is provided in the main body to be hidden by theelectromagnetic wave absorbing body when viewed from the first externalenvironment sensor in a state in which the reflector is made to face thefirst external environment sensor.